Vehicle control system for controlling steering of vehicle

ABSTRACT

Embodiments provide a vehicle control system comprising a projecting device, a camera device, a control device and an actuating device. The vehicle steering control system does not need a physical steering wheel, thus the weight and cost of the vehicles can be reduced. In addition, the steering control system according to the present invention provides the drivers with brand new driving experience.

CROSS-REFERENCES TO RELATED APPLICATIONS

This application is a continuation of U.S. Nonprovisional applicationSer. No. 15/008,416, filed on Jan. 27, 2016 titled “VEHICLE CONTROLSYSTEM FOR CONTROLLING STEERING OF VEHICLE,” which claims the benefit ofand priority of U.S. Provisional Application No. 62/274,110, filed onDec. 31, 2015 titled “VEHICLE CONTROL SYSTEM FOR CONTROLLING STEERING OFVEHICLE”, which claims the benefit and priority of U.S. ProvisionalApplication No. 62/133,991, filed on Mar. 16, 2015 titled “IMPROVEMENTSTO ELECTRIC VEHICLES”, and the benefit and priority of U.S. ProvisionalPatent Application No. 62/150,848, filed on Apr. 22, 2015 titled“IMPROVEMENTS TO ELECTRIC VEHICLES,” the disclosures of each of whichare herein incorporated by reference in their entirety for all purposes.

TECHNICAL FIELD

The present invention relates to a vehicle control system and anelectric vehicle using the vehicle control system, the vehicle controlsystem being used for controlling the steering of a vehicle.

BACKGROUND OF THE INVENTION

The steering of the existing vehicle is commonly carried out bycontrolling a physical steering wheel, so that the steering and torqueamounts are detected by a torque sensor which then is used to control apower source in a steering assist system, so as to assist steering by anengine driving an oil pump or by a motor producing an assisting force.No matter which type of steering assist system is used, as the beginningof a steering operation, a physical steering wheel is indispensable.

BRIEF SUMMERY OF THE INVENTION

The present invention aims to provide a vehicle control system forcontrolling steering of a driving apparatus without a physical steeringwheel.

According to a first aspect of the present invention, a control systemfor controlling steering of the driving apparatus is provided. Thecontrol system can comprise an image projection device, a camera device,a processor, an actuation device, and/or any other components. The imageprojection device can be configured to project a steering wheel imagewithin the driving apparatus. The camera device can be configured totake an image of a motion of one or two hands on the steering wheelimage. The processor can be configured to determine a position of theone or two hands according to the image of the one or two hands, tocalculate a movement of the one or two hands, to determine a steeringangle and a steering direction according to the movement of the one ortwo hands, to output a control signal according to the steering angleand steering direction and/or any other operations. The actuating devicecan be configured to receive the control signal and to effectuate acontrol the driving apparatus according to the control signal.

According to a second aspect of the present invention, an electricvehicle is provided, including the vehicle control system according tothe first aspect of the present invention.

According to a third aspect of the present invention, a vehicle controlmethod for controlling the steering of a driving apparatus is provided.The method comprises the following steps: projecting a steering wheelimage; taking images of an operator's hand(s) on the steering wheelimage; determining a positions of the operator's hand(s) according tothe images of the hand(s); calculating a movement of the hand(s);determining a steering angle and a steering direction according to themovement of the hand(s); and outputting a control signal to an actuatingdevice according to the steering angle and the steering direction, so asto control the driving apparatus.

In comparison to the prior art, the vehicles using the steering controlsystem according to the present invention does not need to use aphysical steering wheel, thus the weight and cost of the vehicles can bereduced. In addition, the steering control system according to thepresent invention provides the drivers with brand new drivingexperience.

BRIEF DESCRIPTION OF THE DRAWING

The present invention is further described in detail below withreference to the accompanying drawings, wherein:

FIG. 1 generally illustrates an example of a driving apparatus 100 inaccordance with the disclosure.

FIG. 2 shows a structural schematic diagram of a control system inaccordance with one example of disclosure.

FIG. 3 illustrates an exemplary configuration of processor forimplementing the control mechanism in accordance with the disclosure.

FIG. 4 shows a schematic diagram of a method for calculating movementposition difference vectors according to the present invention.

FIG. 5 shows a flow diagram of a vehicle control method according to thepresent invention; and

FIG. 6 shows a schematic diagram of an example of a computer system

DETAILED DESCRIPTION OF THE INVENTION

Embodiments of the vehicle control system according to the presentinvention are described below with reference to the accompanyingdrawings.

FIG. 1 generally illustrates an example of a driving apparatus 100 inaccordance with the disclosure. The driving apparatus 100 may includeany apparatus that moves in distance. Examples of driving apparatus 100may include a vehicle such as a car, a bus, a train, a truck, a tram, orany other type of vehicle; may include a vessel such as a boat, a ship,a barge, a ferry or any other type of watercraft; may include anaircraft such as an airplane, a spaceship, or any other type ofaircraft; or may include any other transportation apparatus. In oneexample, the driving apparatus 100 is an electrical automobile. Asshown, the driving apparatus 100 may include a cabin 101 with a volume.

As shown in FIG. 1, in the cabin 101, there may be a dashboard 102 thathas a screen 103. Although in this example, a dashboard screen 103occupies the entire surface of the dashboard 102, this is not intendedto be limiting. It is contemplated that in some cases, the dashboardscreen 103 may occupy a portion of the dashboard 102 instead of theentire dashboard 102. In any case, the dashboard screen 103 is suitableto display one or more information panels, such as the informationpanels 104 shown in FIG. 1. In implementations, the dashboard screen 103may include any display technology, such as liquid-crystal display(LCD), crystal LCD, light-emitting diode (LED), organic light-emittingdiode (OLED), active-matrix organic light-emitting diode (AMOLED),Plasma, projection panel, cathode ray tube (CRT), and/or any otherdisplay technology.

In some examples, information presented in the information panels 104may include gauge information related to the transportation apparatus100, such as current speed/altitude/direction/wind, currentlongitude/latitude, distance traveled, RPM, fuel level, battery level,and/or any other gauge information related to the transportationapparatus 100. In some examples, information presented in theinformation panels 104 may include indication information, such as seatbelt, airbag, door, trunk, maintenance, safety, window lock, door lockindication information or any other indication information. In someexamples, information presented in the information panels 104 mayinclude navigational or GPS information related to navigation of thedriving apparatus 100, such as current street traveled on, map of anarea the transportation apparatus 100 is traveling in, the destinationinformation, direction instructions, traffic condition, estimatedarrival time, estimated delay due to traffic, and/or any othernavigation information. In some examples, information presented in theinformation panels 104 may include cabin information, such as currenttemperature, humidity, wind speed, number of passengers in one or morezones in the cabin 101 and/or any other cabin information. In someexamples, information presented in the information panels 104 mayinclude configuration information regarding the transportation apparatus100, such as seat configuration, mirror configuration, batteryconfiguration, driving mode configuration, and/or any otherconfiguration. In some examples, information presented in theinformation panels 104 may include entertainment information. Forexample, such an information panel may include a video screen capable ofpresenting a video or still images, a browser screen capable ofpresenting web information, a game screen capable of presenting one ormore games for user interaction, a music information screen capable ofenabling a user to consume music pieces, e-commerce information screencapable of enabling a user to engage remote transaction via theInternet, radio information screen capable of presenting a list of radiostations available for user consumption, and/or any other type ofinfotainment screen. In some examples, information presented in theinformation panels 104 may include notification information such asincoming call, incoming text message, incoming video chat request,and/or any other notification information. Other examples of informationpanels 104 are contemplated.

As still shown in FIG. 1, the driving apparatus 100 may comprise one ormore virtual steering wheels 106 in the cabin 101. As will be describedin further detail, the virtual steering wheel 106 can be projected froman image projection device installed in the driving apparatus 100.Although only one virtual steering wheel 106 is shown in FIG. 1, this isnot intended to be limiting. In some examples, the driving apparatus 100may include more than one virtual steering wheel 106.

As also shown in FIG. 1, one or more users 108 may be arranged to occupytheir corresponding positions in the cabin 101. The users 108 mayinclude one or more drivers that control the virtual steering wheel 106,one or more passengers, and/or any other type of users 108. In thisexample, the user 108 a is a driver that controls the driving of thedriving apparatus 100, while other users 108, e.g., users 108 b-d, arepassengers. As still shown, there may be multiple rows of users 108within the cabin 101 of the transportation apparatus 100.

As still shown in FIG. 1, driving apparatus 100 may include one or moreprocessors 110 configured to control one or more electrical system orsubsystems in driving apparatus 100. Types of processor 110 may includegeneric processor configured to execute machine-readable instructionsconfigured to implement a control mechanism to control a controlstructure the driving apparatus 100. As also shown, driving apparatus100 may include one or more of a projection device 114 configured toproject an image of the virtual steering wheel 106 as shown. As alsoshown, driving apparatus 100 may include one or more of a camera deviceconfigured to take an image of one or two hands of an operator of thedriving apparatus on the virtual steering wheel 106.

With the driving apparatus 100 having been generally described,attention is now directed to FIG. 2, where a schematic diagram of acontrol system 200 in accordance with the disclosure is illustrated. Thecontrol system 200 can installed in the driving apparatus 100. It willbe described with reference to FIG. 1. The control system 200 cancomprise the projection device 114, the camera device 116, a processor110, a steering motor 204 serving as an actuating device, a steeringstructure 202, a storage device 206 and/or any other components. Asmentioned above, the projection device 114 can be configured to projecta steering wheel image 106 within the cabin of the driving apparatus100. In one embodiment, the projection device 114 projects the steeringwheel image 106 in front of a driver seat.

The camera device 102 can be configured to take an image of a motion ofone or two hands of an operator of the driving apparatus 100 on thesteering wheel image 106. In some implementations, the camera device 102may be configured to take such an image periodically, e.g., once every1/1 ih seconds, 1/24th seconds, every ⅓ dh seconds, and so on. Theimages taken by the camera device 102 may be stored in the storagedevice 206 and may be processed by the control device 202.

The processor 110 can be configured to perform various operations toimplement a control mechanism to control a maneuver of the drivingapparatus 100. FIG. 3 illustrates an exemplary configuration ofprocessor 110 for implementing the control mechanism in accordance withthe disclosure. As shown, processor 110 may comprise a hand positiondetermination component 302, a past information component 304, a handmovement component 306, a steering angle and direction component 308, acontrol component 310, and/or any other components. The hand positiondetermination component 302 may be configured to determines thepositions of one or two hands on the virtual steering wheel image 106according to the images of the hand(s) taken by camera device 116. Asshown, the hand position determination component 302 may receive suchimages from the camera device 116 periodically, e.g., once every 1/12thseconds, 1/24th seconds, every ⅓ dh seconds, and so on. The handposition determination component 302 can be configured with imagerecognition algorithm to recognize a position of the hand(s) on thevirtual steering wheel image 106. Referring to FIG. 4 now, the 403 and405 on the virtual steering wheel image 106 at time T (right) indicatespositions of the hands at current time that can be determined by thehand position determination component 302 via an image recognitionalgorithm. Returning to FIG. 3, once having determined the hand positionon the virtual steering wheel image 106, the hand position determinationcomponent 302 can be configured to generate the position information andstore it in the storage device 206. The storage device 206 can beconfigured to store hand position information for a period of time asthe hand position determination component 302 keep sending the positioninformation at specific time instants periodically.

The past information component 304 can be configured to obtain pastposition information regarding the hands on the virtual steering wheelimage 106. For example, the past information component 304 can beconfigured to call up hand position information at any previous timeinstant stored in storage device 206. Referring to FIG. 4 now, position402 and 404 on the virtual steering wheel image 106 at time TO (left)represent previous hand positions stored in the storage device 206.

Returning to FIG. 3, hand movement component 306 can be configured tocalculate a hand movement based on the current position informationdetermined by the hand position determination component 302 and the pastposition information retrieved by the past information component 304.For example, the hand movement component 306 can calculate a handmovement based on the hand position on the virtual steering wheel image106 at T1 (current time) and the hand position on the virtual steeringwheel image 106 at TO (immediate before T1). Referring to FIG. 4 again,the vector 406 and 407 can be calculated by hand movement component 306to represent the differences between the positions 403, 405 of the handsin the current cycle and the positions 402, 404 of the hands in theprevious cycle.

Returning to FIG. 3, the steering angle and direction component 308 canbe configured to determine a steering angle and a steering directionaccording to the movement position difference vectors determined by handmovement component 306. The steering angle and direction component 308can be configured to output a corresponding current and voltage as acontrol signal according to the steering angle and the steeringdirection, so as to control the steering motor 204. Returning to FIG. 2,the steering motor 204 then outputs power to enable the steeringstructure 202 to drive vehicle wheels to turn direction. The steeringstructure 202 can employ a steering rack and a steering gear.

FIG. 5 illustrates an example of a process 500 for controlling a vehicleusing a virtual steering wheel image projected within the vehicle.Process 500 is illustrated as a logical flow diagram, the operation ofwhich represents a sequence of operations that can be implemented inhardware, computer instructions, or a combination thereof. In thecontext of computer instructions, the operations representcomputer-executable instructions stored on one or more computer-readablestorage media that, when executed by one or more processors, perform therecited operations. Generally, computer-executable instructions includeroutines, programs, objects, components, data structures, and the likethat perform particular functions or implement particular data types.The order in which the operations are described is not intended to beconstrued as a limitation, and any number of the described operationscan be combined in any order and/or in parallel to implement theprocesses.

At Step 501, a projecting device can be used to project a steering wheelimage in front of a driver of the vehicle. The specific projectingmethod may use the method in the prior art known to those skilled in theart, and the specific structure of the projecting device may be that ofthe existing device capable of realizing air projection.

At 502, the camera device takes images of operational motions of bothhands of the driver on the steering wheel image. The shooting range forboth hands of the driver in the charge of the camera device is limitedwithin the boundaries of the steering wheel image, namely, the motionsof both hands of the driver within the boundaries of the steering wheelimage are considered effective steering operational motions, while themotions outside the boundaries of the steering wheel image areconsidered invalid. Such a configuration can effectively preventmalfunction, so as to improve driving safety.

At step 503, a position of both hands can be determined. In someembodiments, 503 can be performed by a hand position determinationcomponent the same or substantially similar to the hand positiondetermination component 302 described and illustrated herein. Asdescribed above, the hand position determination component can determinethe positions of the hands according to the images of the hands.Specifically, the positions of the hands on the steering wheel image aredetermined according to the images of the hands in the images taken bythe camera device. It should be noted that in the present embodiment, norestrictions are placed on the specific hand gesture of the driver,namely no matter what hand gesture is made by the driver, the positionsof the hands will be determined according to the images of the hands, sothat the driver may perform steering operation freely by using hishabitual operational gesture. Since one cycle of steering control stepsis carried out at given intervals, the images of the hands in each cycleof steering control steps are converted to the positions of the handswhich are then stored in the storage device.

At 504, movement position differences can be calculated based on theposition information determined at 502. In some embodiments, 504 can beperformed by a hand movement component the same or substantially similarto hand movement component 306 described and illustrated herein. Asdescribed above, the hand movement component can calculate movementposition difference vectors according to the positions of the hands.FIG. 4 shows a schematic diagram of a method for calculating themovement position difference vectors according to the present invention.

In order to prevent misjudgment, a checking step is introduced into thisembodiment, namely it is checked whether the left hand operation isconsistent with the right hand operation, and the following steps areperformed only when the consistency check is successful. Specifically asshown in FIG. 4, after the camera device simultaneously takes images ofoperational motions of the left and right hands on the steering wheelimage, hand movement component can determine the position 405 of theleft hand in the current cycle and the position 403 of the right hand inthe current cycle, and subsequently hand movement component 306 cancalculate the left hand movement position difference vector 407according to the position 405 of the left hand in this cycle and theposition 404 of the left hand in the previous cycle as stored in thestorage device 206, and the right hand movement position differencevector 406 according to the position 403 of the right hand in thecurrent cycle and the position 405 of the left hand in the previouscycle as stored in the storage device 206.

At 505, it is determined whether the module of the left hand movementposition difference vector 406 is consistent with that of the right handmovement position difference vector 407, wherein the calculation methodof the vector module is the same as that in common mathematics, and thenumerical values are not necessarily exactly the same when it is judgedwhether the both are consistent with each other, it is acceptable aslong as they are in a certain error range. When the consistency check issuccessful, it is indicated that the left hand operation is roughlyconsistent with the right hand operation. When the consistency check isunsuccessful, it is indicated that the left hand operation is differentfrom the right hand operation, and thus the process returns to step 505.Due to such a configuration, the driver's operation will not to bemisjudged by the control system as steering operations when he performsother operation rather than steering operation with one hand, so thatthe judgment is more accurate.

At 506, a steering angle and a steering direction is determinedaccording to the movement position difference vectors. In certainimplementations, 506 can be performed by a steering angle and directioncomponent the same or the substantially similar to steering angle anddirection component 308 described and illustrated herein. Specifically,when it is checked that the module of the left hand movement positiondifference vector 406 is consistent with that of the right hand movementposition difference vector 407, the steering angle and the steeringdirection are determined according to the right hand movement positiondifference vector 406 or the left hand movement position differencevector 407. In some embodiments, it is configured that the steeringangle and the steering direction are determined according to the righthand movement position difference vector 406. Steering angles andsteering directions corresponding to respective movement positiondifference vectors are pre-stored in the storage device 206, based onwhich the steering angle and direction component finds out the steeringangle and the steering direction corresponding to the right handmovement position difference vector 406.

At step 507, current and voltage can be output to the steering motor 104serving as an actuating device according to the steering angle and thesteering direction determined in step 506, so as to control the outputpower of the steering motor 104. In certain implementations, 507 can beperformed by a control component the same or the substantially similarto control component 310 described and illustrated herein.

At step 508, the steering motor 104 can control the steering of thesteering structure 202. In this embodiment, the steering structure 202can include a steering rack and a steering gear. The steering motor,steering rack and steering gear are similar as those in the existingsteering assist system, and will not be described in detail herein.After step 508 is completed, the process returns to Step 505 again afteran interval of time has elapsed for the control system, and the stepsare repeated as described above.

Referring to FIG. 6, a schematic diagram is shown of an example of acomputer system 600. This system is exemplary only and one having skillin the art will recognize that variations and modifications arepossible. The system 600 can be used for the operations described above.For example, the computer systems shown in FIG. 6 may be used toimplement any or all of the techniques and routines described herein forfacilitating a dynamic display of brake force.

The system 600 includes a processor 610, a memory 620, a storage device630, and an input/output interface 640. Each of the components 610, 620,630, and 640 are interconnected using a system bus 650. The processor610 is capable of processing instructions for execution within thesystem 600. In one implementation, the processor 610 is asingle-threaded processor. In another implementation, the processor 610is a multi-threaded processor. The processor 610 is capable ofprocessing instructions stored in the memory 620 or on the storagedevice 630 to provide graphical information via input/output interface640 for display on a user interface of one or more input/output device6100.

The memory 620 stores information within the system 600 and may beassociated with various characteristics and implementations. Forexample, the memory 620 may include various types of computer-readablemedium such as volatile memory, a non-volatile memory and other types ofmemory technology, individually or in combination.

The storage device 630 is capable of providing mass storage for thesystem 600. In one implementation, the storage device 630 is acomputer-readable medium In various different implementations, thestorage device 630 may be a floppy disk device, a hard disk device, anoptical disk device, or a tape device.

The input/output device 6100 provides input/output operations for thesystem 600. In one implementation, the input/output device 6100 includesa key board and/or pointing device. In another implementation, theinput/output device 6100 includes a display unit for displayinggraphical user interfaces.

The features described can be implemented in digital electroniccircuitry, or in computer hardware, firmware, software, or incombinations of them The apparatus can be implemented in a computerprogram product tangibly embodied in an information carrier, e.g., in amachine-readable storage device, for execution by a programmableprocessor; and method steps can be performed by a programmable processorexecuting a program of instructions to perform functions of thedescribed implementations by operating on input data and generatingoutput. The described features can be implemented advantageously in oneor more computer programs that are executable on a programmable systemincluding at least one programmable processor coupled to receive dataand instructions from, and to transmit data and instructions to, a datastorage system, at least one input device, and at least one outputdevice. A computer program is a set of instructions that can be used,directly or indirectly, in a computer to perform a certain activity orbring about a certain result. A computer program can be written in anyform of programming language, including compiled or interpretedlanguages, and it can be deployed in any form, including as astand-alone program or as a module, component, subroutine, or other unitsuitable for use in a computing environment.

Suitable processors for the execution of a program of instructionsinclude, by way of example, both general and special purposemicroprocessors, and the sole processor or one of multiple processors ofany kind of computer. Generally, a processor will receive instructionsand data from a read-only memory or a random access memory or both. Theessential elements of a computer are a processor for executinginstructions and one or more memories for storing instructions and data.Generally, a computer will also include, or be operatively coupled tocommunicate with, one or more mass storage devices for storing datafiles; such devices include magnetic disks, such as internal hard disksand removable disks; magneto-optical disks; and optical disks. Storagedevices suitable for tangibly embodying computer program instructionsand data include all forms of non-volatile memory, including by way ofexample semiconductor memory devices, such as EPROM, EEPROM, and flashmemory devices; magnetic disks such as internal hard disks and removabledisks; magneto-optical disks; and CD-ROM and DVD-ROM disks. Theprocessor and the memory can be supplemented by, or incorporated in,ASICs (application-specific integrated circuits).

The features can be implemented in a computer system that includes aback-end component, such as a data server, or that includes a middlewarecomponent, such as an application server or an Internet server, or thatincludes a front-end component, such as a client computer having agraphical user interface or an Internet browser, or any combination ofthem. The components of the system can be connected by any form ormedium of digital data communication such as a communication network.Examples of communication networks include, e.g., a LAN, a WAN, and thecomputers and networks forming the Internet.

The computer system can include clients and servers. A client and serverare generally remote from each other and typically interact through anetwork, such as the described one. The relationship of client andserver arises by virtue of computer programs running on the respectivecomputers and having a client-server relationship to each other.Although a few implementations have been described in detail above,other modifications are possible.

In addition, the logic flows depicted in the figures do not require theparticular order shown, or sequential order, to achieve desirableresults. In addition, other steps may be provided, or steps may beeliminated, from the described flows, and other components may be addedto, or removed from, the described systems. Accordingly, otherimplementations are within the scope of the following claims.

Where components are described as being configured to perform certainoperations, such configuration can be accomplished, for example, bydesigning electronic circuits or other hardware to perform theoperation, by programming programmable electronic circuits (e.g.,microprocessors, or other suitable electronic circuits) to perform theoperation, or any combination thereof.

A number of embodiments of the invention have been described.Nevertheless, it will be understood that various modification may bemade without departing from the scope of the invention.

The specification and drawings are, accordingly, to be regarded in anillustrative rather than a restrictive sense. It will, however, beevident that additions, subtractions, deletions, and other modificationsand changes may be made thereunto without departing from the broaderspirit and scope. Illustrative methods and systems for providingfeatures of the present disclosure are described above. Some or all ofthese systems and methods may, but need not, be implemented at leastpartially by architectures such as those shown in FIGS. 1-7 above.

Although embodiments have been described in language specific tostructural features and/or methodological acts, it is to be understoodthat the disclosure is not necessarily limited to the specific featuresor acts described. Rather, the specific features and acts are disclosedas illustrative forms of implementing the embodiments. Conditionallanguage, such as, among others, “can,” “could,” “might,” or “may,”unless specifically stated otherwise, or otherwise understood within thecontext as used, is generally intended to convey that certainembodiments could include, while other embodiments do not include,certain features, elements, and/or steps. Thus, such conditionallanguage is not generally intended to imply that features, elements,and/or steps are in any way required for one or more embodiments or thatone or more embodiments necessarily include logic for deciding, with orwithout user input or prompting, whether these features, elements,and/or steps are included or are to be performed in any particularembodiment.

What is claimed is:
 1. A control system for controlling steering of adriving apparatus, wherein the system comprising: a projecting deviceconfigured to project a steering wheel image on to a surface within thedriving apparatus such that a user of the driving apparatus may act onthe projected image of the steering wheel; a capturing device configuredto capture motion data regarding movements of one or two hands on theprojected steering wheel image; a processor configured bymachine-readable instructions to: calculate a movement of the one or twohands based on the motion data, determine a steering input according tothe movement of the one or two hands, and output a steering signalaccording to the steering input direction; and an actuating deviceconfigured to receive the steering signal and effectuate a maneuver ofthe driving apparatus according to the steering signal.
 2. The controlsystem according to claim 1, further comprising a storage deviceconfigured to store positions of the hands; and, wherein the processoris further configured to calculate a position difference vectoraccording to the motion data and at least one position of the one or twohands determined at a previous time to form the movement positiondifference vector.
 3. The control system according to claim 1, whereinthe capturing device is configured to capture motion data of the leftand right hands on the steering wheel image; and, wherein the processoris configured to: separately calculate a left hand movement positiondifference vector and a right hand movement position difference vector,check whether the left hand movement position difference vector isconsistent with the right hand movement position difference vector, and,in response to determining the left hand movement position differencevector is consistent with the right hand movement position differencevector, determine the steering input according to the left or right handmovement position difference vector.
 4. The control system according toclaim 1, further comprising a storage device configured to storepredetermined steering angles and steering directions corresponding torespective movement position difference vectors.
 5. The control systemaccording to claim 1, wherein the actuating device is a steering motor,operative connected to a steering structure having a steering rack and asteering gear.
 6. The control system according to claim 1, wherein thedriving apparatus includes a vehicle, a motorcycle, a train, a truck, atram, a vessel, and an aircraft.
 7. The control system according toclaim 1, wherein the processor is further configured to store thecalculated movement of the one or two hands in association with atimestamp.
 8. The control system according to claim 1, wherein thesteering input includes at least one of a steering angle and steeringdirection.
 9. A method for controlling steering of a driving apparatus,the method being implemented by a processor, the method comprising:projecting a steering wheel image on to a surface within the drivingapparatus such that a user of the driving apparatus may act on theprojected image of the steering wheel; capturing motion data regardingmovements of one or two hands on the projected steering wheel image;calculating a movement of the one or two hands based on the motion data,determining a steering input according to the movement of the one or twohands, and outputting a steering signal according to the steering inputdirection; and receiving the steering signal and effectuate a maneuverof the driving apparatus according to the steering signal.
 10. Themethod according to claim 9, further comprising calculating a positiondifference vector according to the motion data and at least one positionof the one or two hands determined at a previous time to form themovement position difference vector.
 11. The method according to claim9, wherein capturing motion data regarding movements of one or two handson the projected steering wheel image comprising capturing motion datafor the left and right hands on the steering wheel image, whereincalculating a movement of the one or two hands based on the motion datacomprises: separately calculating a left hand movement positiondifference vector and a right hand movement position difference vector,and checking whether the left hand movement position difference vectoris consistent with the right hand movement position difference vector,and, wherein determining the steering input according to the movement ofthe one or two hands comprises: in response to determining the left handmovement position difference vector is consistent with the right handmovement position difference vector, determining the steering inputaccording to the left or right hand movement position difference vector.12. The method according to claim 9, further comprising storingpredetermined steering angles and steering directions corresponding torespective movement position difference vectors.
 13. The methodaccording to claim 9, wherein effectuating the maneuver of the drivingapparatus according to the steering signal comprises controlling asteering motor in according to the steering signal.
 14. The methodaccording to claim 9, wherein the driving apparatus includes a vehicle,a motorcycle, a train, a truck, a tram, a vessel, and an aircraft. 15.The method according to claim 9, further comprising storing thecalculated movement of the one or two hands in association with atimestamp.
 16. The method according to claim 9, wherein the steeringinput includes at least one of a steering angle and steering direction.